Verification method, verification device, and non-transitory tangible storage medium

ABSTRACT

In a verification method for verifying a verification target camera, an original image in which optical characteristics of an original image camera different from the verification target camera are corrected to a captured image of a real scene captured by the original image camera is prepared, a verification image in which an influence of optical characteristics of the verification target camera is applied to the original image is prepared, image recognition of the verification image is performed by executing a verification target algorithm applied for image recognition of an image captured by the verification target camera, and an image recognition result of the verification image is evaluated.

CROSS REFERENCE TO RELATED APPLICATION

The present application claims the benefit of priority from JapanesePatent Application No. 2019-089229 filed on May 9, 2019. The entiredisclosure of the above application is incorporated herein by reference.

TECHNICAL FIELD

The present disclosure relates to a verification method, a verificationdevice, and a non-transitory tangible storage medium storing a computerprogram product for verifying a camera.

BACKGROUND

Conventionally, it has been known an image recognition technique forrecognizing an object from an image captured by a camera.

SUMMARY

According to an aspect of the present disclosure, an original image inwhich optical characteristics of an original image camera different froma verification target camera are corrected to a captured image of a realscene captured by the original image camera is prepared, a verificationimage in which an influence of optical characteristics of theverification target camera is applied to the original image is prepared,image recognition of the verification image is performed by executing averification target algorithm to be applied for image recognition of animage captured by the verification target camera, and an imagerecognition result of the verification image is evaluated.

BRIEF DESCRIPTION OF DRAWINGS

Objects, features and advantages of the present disclosure will becomeapparent from the following detailed description made with reference tothe accompanying drawings. In the drawings:

FIG. 1 is a block diagram showing a configuration for providing averification method according to a first embodiment;

FIG. 2 is a flowchart showing an example of an original image generationprocessing;

FIG. 3 is a flowchart showing an example of a verification processing ofa verification target camera; and

FIG. 4 is a schematic diagram showing an outline of the verificationmethod and processed images.

DETAILED DESCRIPTION

In a certain image recognition technology, a traveling lane of a vehicleis recognized from an image captured by a camera mounted on the vehicle.When using this image recognition technology, it is necessary to verifyan influence of optical characteristics of the camera on an accuracy ofimage recognition in advance. The verification method includes, forexample, acquiring a captured data affected by the opticalcharacteristics of a verification target camera by capturing a realscene with the verification target camera, and evaluating whether arecognition target can be correctly recognized from the captured data.However, in the above-described verification method, when opticalcharacteristics of the verification target camera are changed due to achange in generation, specifications, or the like, necessity to newlycapture a real scene may be generated.

According to an aspect of the present disclosure, a verification methodimplemented by at least one processor for verifying a verificationtarget camera, includes preparing an original image in which opticalcharacteristics of an original image camera different from theverification target camera are corrected to a captured image of a realscene captured by the original image camera, preparing a verificationimage in which an influence of optical characteristics of theverification target camera is applied to the original image, performingimage recognition of the verification image by executing a verificationtarget algorithm to be applied for image recognition of an imagecaptured by the verification target camera, and evaluating an imagerecognition result of the verification image.

According to another aspect of the present disclosure, a verificationdevice for verifying a verification target camera includes at least oneprocessor and a memory. The memory stores instructions configured to,when executed by the at least one processor, cause the at least oneprocessor to prepare an original image in which optical characteristicsof an original image camera different from the verification targetcamera are corrected to a captured image of a real scene captured by theoriginal image camera, to prepare a verification image in which aninfluence of optical characteristics of the verification target camerais applied to the original image, to perform image recognition of theverification image by executing a verification target algorithm to beapplied for image recognition of an image captured by the verificationtarget camera, and to evaluate an image recognition result of theverification image.

According to another aspect of the present disclosure, a non-transitorytangible storage medium stores a computer program product for verifyinga verification target camera. The computer program product includesinstructions configured to, when executed by at least one processor,cause the at least one processor to prepare an original image in whichoptical characteristics of an original image camera different from theverification target camera are corrected to a captured image of a realscene captured by the original image camera, to prepare a verificationimage in which an influence of optical characteristics of theverification target camera is applied to the original image, to performimage recognition of the verification image by executing a verificationtarget algorithm to be applied for image recognition of an imagecaptured by the verification target camera, and to evaluate an imagerecognition result of the verification image.

According to the above-described aspects, even if the opticalcharacteristics of the verification target camera are changed, theverification image can be generated by applying the influence of the newoptical characteristics to the original image. Thus, the influence ofthe optical characteristics of the verification target camera on animage recognition function can be verified by generating theverification image in which the influence of the optical characteristicsof the verification target camera is applied to the original image, andperforming the image recognition of the verification image. Therefore,even if the optical characteristics of the verification target cameraare changed, necessity of newly capturing a real scene can be reduced.

First Embodiment

A verification method according to a first embodiment will be describedwith reference to FIGS. 1-4. The verification method according to thefirst embodiment verifies an accuracy of image recognition of averification target camera 30 mounted on a vehicle at a developmentstage of the verification target camera 30 and a vehicle systemincluding the verification target camera 30. The verification method isexecuted by a verification device 100 that is a computer such as apersonal computer or a workstation used by a developer.

The verification target camera 30 is a camera mounted on the vehicle asan autonomous sensor that detects information capable of being used forautonomous driving or advanced driving support of the vehicle. Theverification target camera 30 detects a moving object such as a personor another vehicle present around the vehicle and a stationary objectsuch as a road installation or a lane marking, and outputs detectioninformation to an in-vehicle network. The detection information is usedfor calculating a travel plan required for the autonomous driving or theadvanced driving support. The detection information may be used incombination with detection information of another autonomous sensor suchas a lidar, a millimeter-wave radar, or a sonar.

The verification target camera 30 sets a predetermined range in front ofthe vehicle as an imaging range. The verification target camera 30 isattached to a position inside a front windshield of the vehicle thatdoes not substantially obstruct a view of an occupant sitting on a seat.The verification target camera 30 includes a lens unit 31, an imager 32,and a control circuit 33.

The lens unit 31 includes a lens set and a lens holder. The lens setincludes a plurality of lenses. The lens set has a lens configurationthat ensures desired lens angle of view, brightness, and resolution. Thelens holder is a substantially cylindrical housing member for housingthe lens set in the lens holder, and defines an optical path space forguiding an optical image in the lens holder.

The imager 32 mainly includes a color or monochrome image sensor such asa charge-coupled device (CCD) or a complementary metal oxidesemiconductor (CMOS). The imager 32 is configured to ensure desirednumber of pixels, dynamic range, and sensitivity. The imager 32 may be acombination of, for example, an IR cut filter on a front side of theimage sensor. The imager 32 is formed in a rectangular plate shape as awhole. The imager 32 is housed in the lens holder and is arranged in theoptical path space. On the imager 32, a light image of a real scenepassing through the lens set in the lens unit 31 is formed. The imager32 receives the formed light image and outputs a data of the formedlight image as an electric signal to the control circuit 33.

The control circuit 33 mainly includes a microcomputer having aprocessor 33 a, a random access memory (RAM) 33 b, a memory device 33 c,and an input-output interface (I/O) 33 d. The processor 33 a is hardwarefor arithmetic processing combined with the RAM 33 b. By accessing theRAM 33 b, the processor 33 a performs various processing for realizingfunctions of respective functional units described later to provide theverification method. The memory device 33 c includes a non-volatilestorage medium, and stores various programs to be executed by theprocessor 33 a.

The control circuit 33 has an image processing function of executing animage processing program to perform an image processing on a signaloutput from the imager 32 to generate an image of the real scene. Inaddition, the control circuit 33 controls an imaging operation of theimager 32 including an exposure state at a time of capturing by theimager 32. For example, the control circuit 33 sets a range of effectivepixels while avoiding a range of pixels in which a part of the vehicleis reflected. The control circuit 33 controls the exposure state at thetime of the next capturing based on the pixel value of the effectivepixels within the set range.

The control circuit 33 has an image recognition function of recognizinga recognition target within an imaging range shown in an image. Thecontrol circuit 33 executes a predetermined algorithm for imagerecognition (verification target algorithm) by executing an imagerecognition program stored in a storage area 331 of the memory device 33c by a processor 33 a to realize the image recognition function.

The control circuit 33 recognizes, as the recognition target, an objectnecessary for generating the travel plan of the vehicle by the imagerecognition function. The recognition target is, for example, a movingobject such as a person or another vehicle present around the vehicle,and a stationary object such as a road installation or a lane marking.The control circuit 33 recognizes a position, a shape, an attribute, andthe like of the recognition target by the image recognition function,and outputs the recognition result to the in-vehicle network.

The recognition accuracy of the image recognition function is affectedby optical characteristics of the verification target camera 30, such aslens characteristics of the lens unit 31 and characteristics of theimager 32. For example, if the light image of the real scene is formedon the imager 32 in a state distorted by the lens characteristics, theimage generated by the image processing function is also distorted. As aresult, when a shape or a size of an object reflected in the real scenedeviates from the original one, there may be a case that the imagerecognition function cannot correctly recognize the recognition target.For example, unrecognition of the recognition target reflected in theimage, erroneous recognition of the shape, the attribute, or the like ofthe recognition target, erroneous recognition of the recognition targetin an area where the recognition target is not present may occur. Inaddition to the distortion, optical characteristics such as resolution,exposure, dynamic range, brightness, angle of view can affect therecognition accuracy of the image recognition function.

The verification device 100 verifies the recognition accuracy of theverification target camera 30 by evaluating whether the imagerecognition function can correctly recognize the recognition targetunder the influence of the optical characteristics of the verificationtarget camera 30 described above. At the time of verification, theverification device 100 is communicably connected to an original imagecamera 10 and a comparison camera 20.

Similarly to the verification target camera 30, the original imagecamera 10 includes a lens unit 11, an imager 12, and a control circuit13, and the comparison camera 20 includes a lens unit 21, an imager 22,and a control circuit 23.

The original image camera 10 is a camera that captures a real sceneimage Ri. The real scene image Ri is a captured image necessary forgenerating an original image Oi described later. The lens unit 11 andthe imager 12 of the original image camera 10 are configured to becapable of capturing an image with less deterioration compared to theverification target camera 30, in other words, to have a configurationcapable of capturing a high-quality image. That is, the original imagecamera 10 can generate the real scene image Ri closer to the real sceneas compared with the verification target camera 30. In other words, thereal scene image Ri obtained by the original image camera 10 has lessmissing or less deformation of information, such as shape, hue,brightness, saturation, and brightness, of the real scene than an imagecaptured by the verification target camera 30. For example, the originalimage camera 10 can capture an image having less distortion than theverification target camera 30. In addition, the original image camera 10may be configured to have a higher resolution than the verificationtarget camera 30. Further, the original image camera 10 may beconfigured to have a larger dynamic range than the verification targetcamera 30.

The comparison camera 20 is a camera that provides a comparison imagenecessary for evaluating whether an image generated by the verificationdevice 100 can be adopted as the original image Oi. The comparisoncamera 20 has a configuration in which a degree of deterioration of acaptured image is substantially the same or larger than that of theverification target camera 30. Note that the comparison camera 20 may bethe same as the verification target camera 30. Each of the originalimage camera 10 and the comparison camera 20 captures a real scene fromthe vehicle traveling on a real road in advance, and generates an imageof the real scene.

The verification device 100 mainly includes a control circuit having aprocessor 101, a RAM 102, a memory device 103, and an input-outputinterface (I/O) 104. The processor 101 is hardware for arithmeticprocessing combined with the RAM 102. The processor 101 accesses the RAM102 to execute various processing for realizing the functions of therespective functional units. The memory device 103 includes anon-volatile storage medium, and stores various programs to be executedby the processor 101.

The verification device 100 executes the verification program stored inthe memory device 103 by the processor 101 to realize an original imagegeneration unit 110, a verification image generation unit 120, an imagerecognition unit 130, and a recognition result evaluation unit 140 asfunctional units.

The original image generation unit 110 acquires the real scene image Rifrom the original image camera 10 and performs a filter processing forsubstantially removing the optical characteristics of the original imagecamera 10 from the real scene image Ri. Accordingly, the original imagegeneration unit 110 generates a corrected image in which the opticalcharacteristics of the original image camera 10 have been corrected.

The filter processing performed by the original image generation unit110 includes at least a processing of correcting distortion of the realscene image Ri with respect to the real scene. In addition, the filterprocessing includes a resolution restoration processing, an exposurerestoration processing, a dynamic range correction processing, abrightness correction processing, and a view angle correctionprocessing, for example. Parameters used in each processing aredetermined based on lens characteristics of the lens unit 11 in theoriginal image camera 10. Further, the parameters may be determinedbased on characteristics of the imager 12 in addition to the lenscharacteristics.

The original image generation unit 110 sets the corrected imagegenerated from the real scene image Ri by the above-described filterprocessing as a candidate of the original image Oi, and evaluateswhether the corrected image can be used as the original image Oi. Theoriginal image generation unit 110 adopts the corrected image evaluatedas usable as the original image Oi and stores the original image Oi in astorage area 115 secured in the memory device 103.

The original image generation unit 110 evaluates whether the correctedimage can be used as the original image Oi, for example, using the imagecaptured by the comparison camera 20. More specifically, the originalimage generation unit 110 generates an image in which the influence ofthe optical characteristics of the comparison camera 20 is applied tothe corrected image (hereinafter, a comparison characteristic image). Inaddition, the original image generation unit 110 acquires an imageobtained by capturing the real scene by the comparison camera 20(hereinafter, a comparison real scene image).

Next, the original image generation unit 110 performs an imagerecognition processing on each of the comparison characteristic imageand the comparison real scene image. At this time, the original imagegeneration unit 110 performs image recognition by executing a programthat implements processing by a comparison algorithm that is equivalentto an algorithm stored in the comparison camera 20. The original imagegeneration unit 110 adopts the corrected image as the original image Oiwhen an image recognition result using the comparison characteristicimage matches an image recognition result using the comparison realscene image. That is, the original image generation unit 110 sets, asthe original image Oi, an image that can obtain an image recognitionresult equivalent to an image recognition result obtained by capturing areal scene with a different camera even if the influence of opticalcharacteristics of the different camera is applied.

The verification image generation unit 120 generates, by an imageprocessing, a verification image Vi in which the influence of theoptical characteristics of the verification target camera 30 is appliedto the original image Oi. When generating the verification image Vi, theverification image generation unit 120 uses data on the opticalcharacteristics of the verification target camera 30 stored in advancein a storage area 125 of the memory device 103. The influence of theoptical characteristics to be applied includes, for example, distortionof an image due to the lenses, deterioration of resolution, change ofexposure, change of dynamic range, change of brightness, and change ofangle of view. Note that the verification image generation unit 120 mayapply the influence of the characteristics of the imager 32 in additionto the influence of the lens characteristics.

The image recognition unit 130 performs image recognition of theverification image Vi by executing an image recognition program storedin advance in the memory device 103. The image recognition program is analgorithm equivalent to the algorithm executed by the verificationtarget camera 30, that is, a program that implements a processing by theverification target algorithm, and is stored in a storage area 135 ofthe memory device 103. By executing the image recognition program, theimage recognition unit 130 executes the verification target algorithm tobe applied for image recognition of the image captured by theverification target camera 30, and reproduces an image recognitionprocessing performed by the verification target camera 30. The imagerecognition unit 130 provides the image recognition result to therecognition result evaluation unit 140.

The recognition result evaluation unit 140 evaluates the imagerecognition result of the verification image Vi. The recognition resultevaluation unit 140 evaluates whether the recognition target has beenrecognized, and whether a non-recognition target has been erroneouslyrecognized as a recognition target. The recognition result evaluationunit 140 performs the evaluation using reference data and externalsensor data.

The reference data is data including correct information such as theposition, shape, attribute, and the like of the recognition target inthe original image Oi. The reference data is linked to the originalimage Oi. The reference data is generated, for example, when an operatordetermines a recognition target from the original image Oi and inputscorrect information. The reference data is stored in advance in astorage area 145 secured in the memory device 103.

The external sensor data is data including a recognition result of arecognition target by an autonomous sensor other than a camera, such asa lidar or a millimeter-wave radar. The external sensor data is acquiredin parallel by another autonomous sensor when the vehicle equipped withthe original image camera 10 travels and captures the real scene imageRi. The external sensor data is stored in advance in a storage area 146secured in the memory device 103.

The recognition result evaluation unit 140 evaluates the degree ofmatching between the correct information on the recognition target inthe reference data and information on the recognition target recognizedby the image recognition unit 130. More specifically, the recognitionresult evaluation unit 140 first generates a characterized referencedata applied with the influence of the optical characteristics of theverification target camera 30, and outputs the degree of matching withthe correct information included in the characterized reference data asa recognition rate of the recognition target by the verification targetcamera 30.

The recognition result evaluation unit 140 evaluates an erroneousrecognition rate at which an image that is not recognized as arecognition target in the external sensor data is recognized as arecognition target by the image recognition unit 130. The recognitionresult evaluation unit 140 displays, for example, the recognition rateand the erroneous recognition rate on a display of the verificationdevice 100 as the evaluation result. Accordingly, the verificationdevice 100 makes it possible for the developer to determine whether theverification target camera 30 has optical characteristics that can beadopted in the vehicle system.

Next, an example of the verification processing performed by theverification device 100 will be described based on the flowcharts shownin FIGS. 2 and 3. FIG. 2 shows a generation processing of the originalimage Oi in the verification processing. The processing in FIG. 2 isstarted, for example, when a developer performs an operation input.

First, the verification device 100 acquires the real scene image Ri inS10, and proceeds to S20. In S20, the verification device 100 generatesthe corrected image, in which the optical characteristics of theoriginal image camera 10 has been corrected, from the real scene imageRi of the original image camera 10.

Next, in S30, the verification device 100 extracts a specific sceneimage from the corrected image. The specific scene image is an imageobtained by capturing a specific scene suitable for evaluating thecorrected image. The specific scene is determined based on, for example,the number and type of the recognition target appeared in the image.After extracting the specific scene image, the verification device 100proceeds to S40.

In S40, the verification device 100 applies the influence of the opticalcharacteristics of the comparison camera 20 to the specific scene imageby the image processing to generate the comparison characteristic imageand proceeds to S50. In S50, the verification device 100 performs theimage recognition processing to the comparison characteristic image toextract the recognition target from the comparison characteristic image.

Next, in S60, the verification device 100 performs the image recognitionprocessing to the comparison real scene image, which is obtained bycapturing the specific scene by the comparison camera 20, to extract therecognition target. The comparison scene image is, for example, an imagethat has been captured in advance and transferred from the comparisoncamera 20 to the memory device 103 of the verification device 100. Notethat, instead of S60, the verification device 100 may read an imagerecognition result of the comparison real scene image stored in advance.

Next, in S70, the verification device 100 determines whether the imagerecognition result of the comparison characteristic image matches theimage recognition result of the comparison real scene image. That is,the verification device 100 determines whether the position, shape,attribute, and the like of the recognition target extracted from thecomparison characteristic image match the position, shape, attribute,and the like of the recognition target extracted from the comparisonreal scene image. In S70, for example, the verification device 100quantifies a matching rate between the two image recognition results,and determines that the image recognition results match with each otherwhen the matching rate exceeds a predetermined threshold.

When determining that the image recognition results do not match, sincethe optical characteristics of the original image camera 10 have notbeen sufficiently corrected and the optical characteristics affect theimage recognition result, the verification device 100 proceeds to S80.In S80, the verification device 100 changes parameters of a filter usedto generate the corrected image, and the verification device 100 returnsto S20. Accordingly, the verification device 100 generates a correctedimage again with a different filter in S20 and repeats a series ofprocessing.

On the other hand, when the verification device 100 determines in S70that the image recognition results match, the verification device 100proceeds to S90. In S90, the verification device 100 adopts thecorrected image used for generating the comparison characteristic imageas the original image Oi, stores the original image Oi in the memorydevice 103, and ends the series of processing.

FIG. 3 shows a processing executed after the generation processing ofthe original image Oi in the verification processing. A series ofprocessing may be started based on an operation input by a developer, ormay be automatically started following the generation processing of theoriginal image Oi.

First, in S100, the verification device 100 prepares the original imageOi by reading the original image Oi stored in the storage area 115 intothe RAM 102. Next, in S110, the verification device 100 generates theverification image Vi to which the influence of the opticalcharacteristics of the verification target camera 30 is applied, basedon the stored original image Oi and data on the optical characteristicsof the verification target camera 30. Since the degree of imagedeterioration of the verification target camera 30 is larger than thedegree of image deterioration of the original image camera 10, theverification image Vi applied with the influence of the opticalcharacteristics of the verification target camera 30 is moredeteriorated than the original image Oi (see FIG. 4). Next, in S120, theverification device 100 performs an image recognition processing, whichis equivalent to the image recognition processing in the verificationtarget camera 30, to the verification image Vi.

Next, in S130, the verification device 100 prepares the reference databy reading out the reference data from the memory device 103 andproceeds to S132. In S132, the verification device 100 generates thecharacterized reference data applied with the influence of the opticalcharacteristics of the verification target camera 30 read out from thestorage area 125. Specifically, the verification device 100 converts thecorrect information regarding the position, shape, and the like of therecognition target in the original image Oi included in the referencedata into the correct information regarding the recognition target inthe verification image Vi according to the distortion of the originalimage Oi caused by the optical characteristics. Next, in S134, theverification device 100 acquires the external sensor data by reading outfrom the storage area 146.

Next, in S136, the verification device 100 evaluates the imagerecognition result of the verification image Vi using the characterizedreference data and the external sensor data. In S136, the verificationdevice 100 evaluates the recognition rate and the erroneous recognitionrate of the recognition target appeared in the verification image Vi asthe image recognition result. Next, in S140, the verification device 100outputs the evaluation result in S136, for example, to a display or thelike. After performing the processing in S140, the verification device100 ends the series of processing.

Next, the operation and effects of the verification method according tothe first embodiment will be described.

In the verification method according to the first embodiment, theverification image Vi in which the influence of the opticalcharacteristics of the verification target camera 30 is applied to theoriginal image Oi is generated, the verification image Vi is subjectedto the image recognition processing by the image recognition unit 130,and the image recognition result is evaluated. Thus, even if the opticalcharacteristics of the verification target camera 30 are changed, theverification image Vi can be generated by applying the influence of thenew optical characteristics to the original image Oi. Therefore,necessity of newly capturing a real scene with the verification targetcamera 30 is reduced. Accordingly, the verification method according tothe first embodiment can restrict an increase in verification time andcost due to a change in optical characteristics of the verificationtarget camera 30.

In the verification method according to the first embodiment, theinfluence of the optical characteristics of the verification targetcamera 30 is applied to the verification image Vi by the imageprocessing. Accordingly, as compared with a case where the originalimage Oi is captured by the verification target camera 30, theverification image Vi is less likely to be affected by other than theoptical characteristics of the verification target camera 30. Therefore,the influence of factors other than the optical characteristics of theverification target camera 30 on the evaluation of the image recognitionresult can be restricted.

In addition, the original image camera 10 according to the firstembodiment is capable of capturing the captured image with lessdeterioration than the verification target camera 30. Thus, theverification method can easily generate the original image Oi in whichthe optical characteristics of the original image camera 10 have beencorrected.

The verification device 100 according to the first embodiment preparesthe reference data in which the recognition target is extracted from theoriginal image Oi in advance, and generates data in which the opticalcharacteristics of the verification target camera 30 are applied to thereference data. The verification device 100 evaluates the imagerecognition result based on the data. Accordingly, even when the opticalcharacteristics of the verification target camera 30 are changed, theverification device 100 can evaluate the image recognition result byapplying the influence of the new optical characteristics to thereference data. Therefore, even if the optical characteristics of theverification target camera 30 are changed, the necessity of regeneratingnew reference data is reduced.

In addition, the verification device 100 according to the firstembodiment generates the corrected image as a candidate of the originalimage Oi from the real scene image Ri, and generates the comparisoncharacteristic image in which the optical characteristics of thecomparison camera 20 are applied to the corrected image. Theverification device 100 performs image recognition of the comparisoncharacteristic image and the comparison real scene image by thecomparison camera 20. The verification device 100 determines whether theimage recognition results match with each other, and adopts thecorrected image as the original image Oi when determining that the imagerecognition results match with each other.

Accordingly, the verification device 100 can determine whether theoptical characteristics of the original image camera 10 are corrected tosuch an extent that the optical characteristics do not affect the imagerecognition result by comparing the image recognition results of thecomparison characteristic image and the comparison real scene image.Therefore, the verification device 100 can restrict the opticalcharacteristics of the original image camera 10 remaining in theoriginal image Oi from affecting the verification of the verificationtarget camera 30.

OTHER EMBODIMENTS

The disclosure in the present specification is not limited to theillustrated embodiments. The disclosure encompasses the illustratedembodiments and modifications based on the embodiments by those skilledin the art. For example, the disclosure is not limited to thecombinations of components and/or elements shown in the embodiments. Thedisclosure may be implemented in various combinations. The disclosuremay have additional portions that may be added to the embodiments. Thedisclosure encompasses omission of components and/or elements of theembodiments. The disclosure encompasses the replacement or combinationof components and/or elements between one embodiment and another. Thedisclosed technical scope is not limited to the description of theembodiments.

In the above-described embodiment, the verification target camera 30 isconfigured to have the image recognition function. Alternatively, theverification target camera 30 may be configured not to include the imagerecognition function, and to output the image data to another controldevice such as an in-vehicle ECU that has the image recognitionfunction. When such a verification target camera 30 is verified, theverification device 100 may perform image recognition of theverification image Vi using an image recognition program of a controldevice that performs image recognition of a captured data.

In the above-described embodiment, the verification device 100 executesthe image recognition processing using the image recognition programstored in advance in the memory device 103. Alternatively, theverification device 100 may be configured to output the verificationimage Vi to the control circuit 33 of the verification target camera 30and acquire the image recognition result in the control circuit 33.

In the above-described embodiment, the verification device 100 generatesthe original image Oi from the real scene image Ri captured by theoriginal image camera 10. Alternatively, the verification device 100 maybe configured to acquire the original image Oi generated by anotherdevice. For example, the verification device 100 may acquire theoriginal image Oi distributed from another service.

In the above-described embodiment, the verification device 100 generatesthe verification image Vi by applying the influence of the opticalcharacteristics of the verification target camera 30 to the originalimage Oi by the image processing. Alternatively, the verification device100 may be configured to acquire a captured data of the original imageOi from the verification target camera 30 as the verification image Vi.In this case, the verification target camera 30 may be configured tocapture the original image Oi projected on a screen or the like toacquire the captured data.

Each of the processors 33 a, 101 in the embodiments may be a processingunit including one or more central processing units (CPUs). In additionto the CPUs, each of the processors 33 a, 101 described above may be aprocessor including a graphics processing unit (GPU), a data flowprocessor (DFP), and the like. Further, each of the processors 33 a, 101may be a processing unit including a field-programmable gate array(FPGA), an IP core specialized for a particular processing such aslearning and reasoning of AI, and the like. Each arithmetic circuit ofsuch a processor may be individually mounted on a printed circuit board,or may be mounted on an application specific integrated circuit (ASIC)or an FPGA.

Various non-transitory tangible storage medium, such as a flash memoryand a hard disk, may be employed as each of the memory devices 33 c, 103that store various programs. The form of the storage medium describedabove may also be changed as appropriate. For example, the storagemedium may be in the form of a memory card or the like, and may beinserted into a slot portion provided in the verification device 100 andelectrically connected to the control circuit.

The control circuit and the method described in the present disclosuremay be implemented by a special purpose computer configuring a processorprogrammed to perform one or more functions embodied by a computerprogram. Alternatively, the device and the method described in thepresent disclosure may be implemented by a dedicated hardware logiccircuit. Alternatively, the device and the method described in thepresent disclosure may be implemented by one or more dedicated computersconfigured by a combination of a processor executing a computer programand one or more hardware logic circuits. The computer program may alsobe stored on a computer-readable non-transitory tangible recordingmedium as instructions to be executed by a computer.

What is claimed is:
 1. A verification method implemented by at least oneprocessor for verifying a verification target camera, comprising:preparing an original image in which optical characteristics of anoriginal image camera different from the verification target camera arecorrected in a captured image of a real scene captured by the originalimage camera; preparing a verification image in which an influence ofoptical characteristics of the verification target camera is applied tothe original image; performing image recognition of the verificationimage by executing a verification target algorithm to be applied forimage recognition of an image captured by the verification targetcamera; evaluating an image recognition result of the verificationimage; generating a corrected image as a candidate of the original imagefrom the captured image of the real scene captured by the original imagecamera; generating a comparison characteristic image in which aninfluence of optical characteristics of a comparison camera differentfrom the original image camera is applied to the corrected image;performing image recognition of the comparison characteristic image byexecuting a comparison algorithm to be applied for image recognition ofan image captured by the comparison camera; performing image recognitionof a comparison real scene image, which is obtained by capturing thereal scene with the comparison camera, by executing the comparisonalgorithm; determining whether an image recognition result of thecomparison characteristic image and an image recognition result of thecomparison real scene image match with each other; and adopting thecorrected image as the original image when determining that the imagerecognition result of the comparison characteristic image and the imagerecognition result of the comparison real scene image match with eachother.
 2. The verification method according to claim 1, wherein thepreparing the verification image includes applying the influence of theoptical characteristics of the verification target camera by imageprocessing.
 3. The verification method according to claim 1, wherein thepreparing the original image includes acquiring the original imagegenerated from the captured image of the real scene captured by theoriginal camera, wherein the original camera is capable of capturing thecaptured image of the real scene with less deterioration compared to theverification target camera.
 4. The verification method according toclaim 1, further comprising: preparing reference data obtained byextracting a recognition target from the original image in advance; andgenerating characterized reference data by applying the influence of theoptical characteristics of the verification target camera to thereference data, wherein the evaluating the image recognition result ofthe verification image includes evaluating the image recognition resultof the verification image based on the characterized reference data. 5.A verification device for verifying a verification target camera,comprising at least one processor and a memory, the memory storinginstructions configured to, when executed by the at least one processor,cause the at least one processor to: prepare an original image in whichoptical characteristics of an original image camera different from theverification target camera are corrected in a captured image of a realscene captured by the original image camera; prepare a verificationimage in which an influence of optical characteristics of theverification target camera is applied to the original image; performimage recognition of the verification image by executing a verificationtarget algorithm to be applied for image recognition of an imagecaptured by the verification target camera; evaluate an imagerecognition result of the verification image; generate a corrected imageas a candidate of the original image from the captured image of the realscene captured by the original image camera; generate a comparisoncharacteristic image in which an influence of optical characteristics ofa comparison camera different from the original image camera is appliedto the corrected image; perform image recognition of the comparisoncharacteristic image by executing a comparison algorithm to be appliedfor image recognition of an image captured by the comparison camera;perform image recognition of a comparison real scene image, which isobtained by capturing the real scene with the comparison camera, byexecuting the comparison algorithm; determine whether an imagerecognition result of the comparison characteristic image and an imagerecognition result of the comparison real scene image match with eachother; and adopting the corrected image as the original image whendetermining that the image recognition result of the comparisoncharacteristic image and the image recognition result of the comparisonreal scene image match with each other.
 6. A non-transitory tangiblestorage medium storing a computer program product for verifying averification target camera, the computer program product comprisinginstructions configured to, when executed by at least one processor,cause the at least one processor to: prepare an original image in whichoptical characteristics of an original image camera different from theverification target camera are corrected in a captured image of a realscene captured by the original image camera; prepare a verificationimage in which an influence of optical characteristics of theverification target camera is applied to the original image; performimage recognition of the verification image by executing a verificationtarget algorithm to be applied for image recognition of an imagecaptured by the verification target camera; evaluate an imagerecognition result of the verification image; generate a corrected imageas a candidate of the original image from the captured image of the realscene captured by the original image camera; generate a comparisoncharacteristic image in which an influence of optical characteristics ofa comparison camera different from the original image camera is appliedto the corrected image; perform image recognition of the comparisoncharacteristic image by executing a comparison algorithm to be appliedfor image recognition of an image captured by the comparison camera;perform image recognition of a comparison real scene image, which isobtained by capturing the real scene with the comparison camera, byexecuting the comparison algorithm; determine whether an imagerecognition result of the comparison characteristic image and an imagerecognition result of the comparison real scene image match with eachother; and adopting the corrected image as the original image whendetermining that the image recognition result of the comparisoncharacteristic image and the image recognition result of the comparisonreal scene image match with each other.